Cable-Driven 3-DOF Wrist Rehabilitation Robot with optimized Human-Robot Interaction Performance

摘要

This paper developed a cable-driven 3-DOF (degree of freedom) wrist rehabilitation robot with optimized human-robot interaction performance. The workspace and cable tension efficiency of the robot are increased by adding the dynamic adaptive structure of cable attachment points, which improves the safety and comfort of human-robot interaction. In addition, the DASA (distributed active semi-active) system based on MRs(magnetorheological) is adopted, which reduces the effects of elastic elements (e.g., cables or Bowden cables) in the system, improves the force-feedback performance. The robot is compact and can be used independently or transplanted to any upper limb rehabilitation robot without wrist rehabilitation function. The performance of the system and control algorithm is verified by several experiments on healthy subjects. The results show that the system can meet the needs of rehabilitation training for workspace and force-feedback. This system also has the potential to be a force-feedback device for the healthy person.